RCB-3J Manual ForENG

8/3/2019 RCB-3J Manual ForENG

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forRCB-3J board management software

HeartToHeart3J Instruction manual

2006 KONDO KAGAKU CO.,LTD

Control Board

RCB-3J Hardware Manual

2006.10 Ver1.0


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INTORODUCTION

RCB-3J is the 3rd generation control board for robot.Many functions are added as a standard board of KHR-2HV attachment, and it is moreuser-friendly than the type before.This manual explains the way to use new control software HeartToHeart3J and how to

connect RCB-3J. Please read carefully together with other manuals.Furthermore, if you use with KHR-2HV, since the assembly instruction manual explainsthe procedure for KHR-2HV, Please read that rst.This instruction manual might not be the same procedure for KHR-2HV.

Orders of Manual

Explanation of RCB-3J Hardware

Explanation of HeartToHeart3J software operation

Here the things about hardware would be explained, such as connection method of RCB-3J.Options, or peripheral devices which you can connect, would be also explained.

When you use RCB-3J for the rst time, please read from here correctly without failure.

Primer

Basic items are explained, such as basic operation of software or simple motion compilation.

HeartToHeart3J is the software for RCB-3J, but even the beginners who use it for the rst time canoperate it intuitively and GUI interface is adopted extensively, which is better than the procedure of

making motions from enumeration of the data.Act that the enrollment compilation is read, pleaseunderstand basic operation method.

With this primer, you can understand basic operations.

Guide for the intermediate

Book for middle class, in addition to the operations explained in the primer, we explain how toplayback motions with the gyro sensor or the radio.

You can do almost all operations which were done with the former control board, when youunderstand this guide for the intermediate level.

Software

Each function of the software is explained in detail. Please read it when you search the name of

parts and the basic way to handle the software.

Further high-level usage is introduced on our company web sight.

Sample motion and further high-level sample will be carried, and so please check it.

In addition, please read the support page concerning this manual and the update information.

http://www.kondo-robot.com


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NOTICE

We might update the contents of this book without any notice for revise of the goods. We might also

update the software without an advance announcement.

We put the software included in the product on view to public as free ware, provided the software is used

with our products. However, Kondo Kagaku Corporation has copyright and all legal rights. The reverseengineering behavior like distribution, release and disassemble is prohibited.

The company name and trade name inside this book are registered trademarks of the respective

company.

This product is designated to be used in Japan. To bring it abroad, the approval or the notication based

on related laws might be necessary.

The software included in this leaet can be used with Windows2000 or XP of Microsoft corporations.

This does not include the operation under the emulator environment by the hypothetical software.

RCB-3J is to be used for KHR-2HV. Our servo-motor for the robot is also usable, but sometimes there is

restriction on some functions.

* ICS2.0 is specied to KRS-4014HV and 4013H, but it has not yet corresponded to RCB-3J, you cannot

set ICS on the board with RCB-3J.

Company service section is in charge of the after-sales service of this product just as KHR-2HV. In

addition, in the same way, we accept your inquires through telephone or E-mail.

([email protected])

Notice: In case of inquiry through e-mail, it might take time to answer.


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CONTENTS

Introduction

Orders of Manuals

Notice 3

Contents HARDWARE Characteristics of RCB-3J 5

HARDWARE Name of each parts of RCB-3J 5

HARDWARE Feature of connection terminal of RCB-3J 5

HARDWARE Power sources 6

SOFTWARE Sample motions 6

SOFTWARE Installation 7SOFTWARE Set up 8

SOFTWARE Main menu 9

SOFTWARE Tool menu 10-11

SOFTWARE Communications setting 11

SOFTWARE Parts menu 1-13

SOFTWARE Command menu 1SOFTWARE Message/Data dialogue/Objects on data sheet 15

PRIMER Setting the origin 16-17

PRIMER Making home position 18-19

PRIMER Making start up motion 0-3

PRIMER Making motions and execution -5

PRIMER Customizing position window 6-7PRIMER Example of customized position window(1) 8

INTERMEDIATE Setting radio control 30-31

INTERMEDIATE Use of gyro sensor 3

INTERMEDIATE More practicable gyro action 33

INTERMEDIATE United control of ICS settings 3

INTERMEDIATE Making scenario 35-37INTERMEDIATE Use of teaching function 37-39


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HARDWARE

Characteristics of RCB-3JRCB-3J was developed as a control board for the third generation robot.

M16C manufactured by Renesas Technology Corp. is adopted in the CPU. High-speed execution of

order is realized.

A 24 ports are equipped as output ports. It can be also set up as PMW signals or as IO ports which can

output H/L. They cope with the various ways of using.

It corresponds to the control by the communication form of these 2: the high-speed serial port which

can communicate with 115200bps, and the low speed serial port which KONDO-made wireless control

unit receiver can connect.

3 ports are equipped as analog input ports. It is possible to do mixing by analog input signal from

outside, and to execute motions by the conditional branching.

Name of each part

A low speed serial terminal

A high-speed serial terminal

Switch1

AD input 1AD input 2

AD input 3LED1 (Red)

LED2 (Green)

Output1Output2

Output4

Output5Output6

Output7

Output8

Output9Output10

Output11Output12

Output13

Output14Output15

Output16

Output24Output23

Output22Output21

Output20Output19

Output18Output17

Power supply terminal

A setup of a power supply

Output3

The external switchconnection terminal

The specications of the connection terminal

Power supply terminal

+-

The polarity of the power supply terminal is

shown in the figure. Please pay attention

to the polarity when you use somethingadditional connectors.

Output terminal

Output 1-8 GN

D

V

C

C

V C CG

N

D

V

C

C

Output terminal is directed to be negative in outside of the board.

VCC is connected the positive (+) terminal of the power.

Signals of CPU (PWM, serial, H/L etc.) are 0-5 V.

Interface (input and output)Output terminal 24

* PWM output, H/L output and ICS Control canbe set up.

Input terminalA high-speed serial terminal 1

A low-speed serial terminal 1

AD Input terminal1 3

CapacityMaximum number of motions 80

Maximum motion base number 255(*)*It may be different a little according to the contentsto make.

The number of scenarios 5

Scenario capacity 200 (motion regenerated times)

Operating voltage 9-12

It corresponds to a 6V power supply by usingbooster 3.

Specications

AD Input terminalG

ND

V

DD

5V power supply stabilized on the board is being output to

the VDD terminal of the AD input terminal. It is possible to

supply about 50mA together with 3 terminals.

A high-speed serial terminal

12

3

The high-speed serial terminal is

possible to connect the ICS-PC interface

2 attached to old model of RCB-1, in

addition to attached Serial-USB adapter.

Before using, please conrm the COMport number recognized by the personal

computer.As for the high-speed serial

terminal, the black line is connected

to GND, and other two lines are signal

lines.

A low speed serial terminal

12

3

A low speed serial terminal is possible to be

connected to KRT-1 and KRI-1.

(KRT-1 is a receiver of radio control units;

KRI-1 is connected to KRR-2 attached to

KRT-2)

The black code of the low speed serial

terminal is GND, and the red one is The

power supplying code from RCB-3J to the

receiver connected, and the

white one is signal lines.

12

3

Dimension : 35 45 (mm)

Maximum height 14.5mm Weight: 12g

S

IGNAL

Output 9-16Output 17-24

SIGNAL

SIGNAL

SIGNAL

G N D


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HARDWARE

How to turn on

RCB-3J does not have the power switch on the board or in the terminal.

ON/OFF of the power supply could be done by setting and removing power source to the

connector. The cable with the switch for the power supply connection is attached and it is

used for KHR-2HV.Please refer to a KHR-2HV assembling manual for this connection.

Sample motions

The CD-ROM of the HR-2HV accessory has the 22 sample motions.

Each motion is designed to conform when it is assembled under the state of standard of

KHR-2HV. However, please keep in mind that you might need to modify some motions under

some condition of assembling as it is an assembling kit.


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SOFTWARE

7

Install

Install the software with the following process.

You just copy a required le as it does not have an installer.

Before installing software, you must make your PC recognize a serial USB adapter.

Please see the manual of the serial USB adapter, and do installation.

Installation of the serial USB adapter

The installation of software

1When an attached CD-ROM folder is opened, you

can see the folder as the gure to the right. Please

open 'KHR-2HV' from this folder.

Then another 3 folders can be seen and please

open the "Software" folder.

3"HTHJ.EXE" in this folder is the le of software.

Copy this le to the hard disk of the personal

computer.


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SOFTWARE

The start of softwareMain menu Command menu Communication conguration

Tool menu

Parts menu

Status indication

Message

When you start software, the window like above is indicated. Please check the name of each part ofsoftware from the gure above. An icon to use for operation is divided into 4 groups, which are possibleto use as a oating window by operating drag and drop, except for the main menu.

D a t a s t a g e

Data sheet

Data l ist

This is the example of the case whichshows all tools as a oating window.


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SOFTWARE

9

Main menu

Loading Saving

Configuration

Information Ending button

Please use this when saved dataare loaded, clicking it, a dialog box

opens, and you can select the les.

Save present data. You can give a lename to the data when you save.

Set up moving environmentArea: The size of the data sheet can be changed by modifyingthis numerical value.

The interval of the grid : The minimum interval with which anobject is arranged to the data is specied.

By putting a check in "Set up the le icon of RCB", a data le isindicated with a special icon for the preservation of the le andreading.

Indication: The checked menu icon group is indicated.

When you push a "renewal" button, the setup is effective.

It indicates the version information of software.It closes when you click on "x" button of theupper right, or click on the main window.

Software is nished by clicking on this icon. When itis nished, the dialog box for conrmation would beindicated.


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SOFTWARE

Analog configuration

ICS setting

There are 3 systems of analog input in RCB-3J. Thisprogram sets up a movement from the output of thesensor connected to this terminal.

There are 2 kinds of movements by analog input:

1. real time mixing

2. motion interruption

1. Real time mixingIt is the way to add the specied magnication of the inputsignal to the output terminal. It is used, for example, whenyou use gyro sensor.

2. Motion interruption

It distinguishes the value of the signal and to executethe motions set up. For example, it could be used in thesituation that automatic picking the body up is composedof using the acceleration sensor.

It is possible with RCB-3J to set up of characters by ICS all

at once, while it was done directly one by one of the servoindividually so far.

It is an ICS setup window that does this setup.

When you push ICS button and open the window, pleasedo again after the power supply of RCB-3J is cut off once.

Each servo would be a communicate mode by ICS whenthe power is turned on.

Settings can be read with an upper reading button of thewindow. When you double-click on each channel, a setupwindow opens, and you can change the setup conditions ofeach servo.

You can return each servo to the initial setup conditions inbulk by pushing an initialization button.

If you nish setup, an ICS window will be closed and itreturned to the usual mode by turning on RCB-3J again.

Take notice on that, though a servo is a servo for redversion, the servo using ICS2.0 is an exception.

Tool menu

If RCB-3J isn't actually connected, a tool menu doesn't work. Please use this function after youconnect RCB-3J rst.

A setup of a trim adjustment option

Set up of options

It adjusts a home position of each servocorrespond with the 24 output terminals.

It designs the varioussetups to use RCB-3J.


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SOFTWARE

11

Communication conguration

Receiver button

Data table indication

In this window you can monitor a signal from thereceiver when a transmitter was used.

Though, in case of using a usual button-type

(command) transmitter, the 2 byte signal wasfunctioned as a command, in RCB-3J, it isexpanded more, and all analog quantities can beallotted to 1 byte signal.

The list of the motion or the scenario in the internalmemory of RCB-3J can be displayed by executingreading (using an icon in screen) the data table at

present.

RCB-3J does not only have data but also the name ofdata, date of last update etc.

Synchronization Switch A communication port choice

The position of the servo operated on softwarecan effect on RCB-3J in real time. In case ofthe switch 'Off' (When a checkbox is empty),the change could be sent to RCB-3J if youpush transmission button after the modication.

* It is the only information such as a position ofthe present active servo that is effective. Thecontents of the motion won't be changed.

Then please choose the communication port.

A serial USB adapter is recognized as a virtual serialport on the personal computer. Please choose theserial port number of this case.

It can't communicate with RCB-3J if you choose wrong

number.


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SOFTWARE

Parts menu

Choice tool

The parts menu is used when you change the choice of the parts to arrange onto the data sheet.

It is the icon to use a choice of parts or movingtool.

G r i d

This is the check box to use a grid.When a check is in, a grid becomes effective, andeach part would be arranged onto the grid.

Indication of a starting point

You can specify the start point (what is carriedout as the rst of all) in each part such as theposition (POS) arranged onto the data sheet.

When more than one motions exist on the datasheet, it is only the motions having "a startingpoint start" that is actually executed, which is

mentioned this later.

Position

Please use this to arrange the position (the positionalinformation of each servo) on the data sheet, Thewindow for editing would open when you click thesearranged partsIt is possible to arrange 30 positionsindividually onto one data sheet.

Setup value arrangement (SET object)

It uses when settings values are arranged onto the data sheet. You can set up the change of themixing setup, counter (the number of repetitions) of the case of the loop (the execution of the club).

The following window opens when you double-click the arranged object.

What you have chosen, when it close, would be active in this window.

The setup possible to instruct in the formerposition Arrange (FREE and SET1, 2, 3), and itwould be the setting values of the present servo.(It serves as a starting point to the next position.)

It is combined with CMP (compare), which I willmention later. This would set the initial value ofcounter to do a loop (repetition processing).

This is alsoused by beingcombined with

CMP. This set the standard value for branchingby using the value of the sensor.

When you use

analog input,branching would be

done according to the change of that input and thestandard value of sensor would be proofread.

When wireless control isused, signal input from

the receiver could be ignored temporarily (OFF), orcould be returned to effective (on).

This would change the state of motion

start by sensor value for analog input,to be effective or to be invalid. The rstsentences of OFF changes dependingon settings of an analog input.


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SOFTWARE

13

Please use this when you arrange a setup of branching.

A setup of branching is the setup to choose a positionto carry out next by the value of sensors (analog input).

Compare tool

Connection wiring Branching connection wiring

It would be used to connect the position arrangedonto the data sheet, a set point, and a setup ofbranching.You can make continuous motion byconnecting the position arranged separately.

Though this is a wiring tool, too, a starting pointwould always be a branching setup (CMP), whichis different from the ordinary wiring.

When a condition is satised, the point united by

branching connection wiring would be executed.

Compilation tool

The motion data would be sent as numerical value when it is sent to RCB-3J, though a motion iscomposed of each part arranged onto the data sheet.

When you click on the compilation tool, present data would be compiled, and would be indicated inthe data list.

* Normally, it is done automatically when it is written in the board.

HeartToHeart3J makes a position to compose a motion (the movement of the robot) by putting

POS on the data sheet.SET and CMP are used to set conditions of branching and movement.

A motion is completed by connecting the object of these 3 with a wiring tool.

In the tab of mixing in setup

window, mixing motion by analog

input within analog window

could be re-dened or be made

invalid. For example, the mode of

gyro can be modied during themotion.

The setup of branching is done.

All the setups are indicated as "if ***, jump".

Value is established with a SET object, and a loopcounter is subtracted with CMP.

A comparative register is the value set up with a SETobject, too.

Button input is command input value from a receiver touse with wireless control.

(It would be the same value as the input of control specied by every motion.)

It jumps if the setup condition is satised. Branching connection wiring below would be used for thisjump.

* As for the use of CMP and SET, these settings are advanced one. For that reason, usingexamples will be provided as additional support on the web page of an advanced edition.


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SOFTWARE

Command Menu

Home position

The condition of RCB-3J is returned in the home position set up at present.

The servo connected would work when you click this icon.

W r i t i n g

Write the contents of data to arrange to the presentdata sheet in RCB-3J.

Please specify the number of motion or scenariowhen the dialog box of "data writing" opens.

Writing would be done by clicking on OK button ofthe dialog box.

This reads and indicates the motion of RCB-3J orthe contents of the scenario.

As the dialog box of "data reading" is indicated likethe case of writing, specify the number of motionor scenario to be read and then push OK button,

and reading is done.

Reading

Delete

This deletes (or eliminates) the motion or ascenario written in RCB-3J.

When a data deletion dialog is indicated, pleaseselect the motion or a scenario to be deleted andthen push OK button, and deletion is done.

Stop

Pause

S t a r t

This stops a motion or a scenario being regenerated.

This stops a motion or a scenario being regenerated.

Push a start button again to stop the pausing.

When you click, the dialog box of the regeneratednumber designation opens.

Specify the number and push OK button, and themotion of the number specied or a dialog box is playbacked.


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SOFTWARE

15

Message A message for the operated contents is indicated with time.

Data stage

For a motion and a scenario are made, a data stage has a function like canvas.

Please edit actual data when an editing window opens by double-clicking onthe arranged parts. The tab above the sheet is used to switch date sheet to list.

It is the data (numerical value) of arranged parts which is compiled.

The name of the item being edited is indicated in the tab of the data sheet.

You can use data dialog for setting adata name or the control input (receiverinput), and the designation of the usingchannel.

A data name is indicated in the tab ofthe data sheet, and this name is used forwriting the data in the board.

Input of control shows a signal from areceiver to use wireless control.

Contents can be set up by operating a receiving button under the condition that a transmitter side is beingoperated.

Though the contents to set up with this dialog overlap with the dialog opening on the data table, there isdifferent point: while the latter is memorized to a board at once, the setting on data sheet is the setup only on

the software side.

Data dialog

Menu would be indicated when you right-click the each parts arranged ondata sheet.You can set up the name or the color of item arranged by selectingproperty and so on.

Lifting selection: Lift the item selection at present

Copy: make a copy

Delete: delete the item selected

Reproduction: paste the copy of item

Color: change the color of item

Property: the dialog as the right would be indicated and youcan set the name etc. on this box.

Object on Data Sheet

A data dialog opens when you double-click on the data sheet.


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PRIMER

In the primer, we would explain how to make easy motions.On one hand RCB-3J is multi-functional control board, and, on the other hand,you do not need any complicated setting to make simple motions.

1 If you use this for the rst time, please install serial USB adaptor and set up the software. Especiallymake sure the communication port number which you use after installation of serial USB adaptor, sinceif you use the wrong number, you cannot use the software.

3

Connect 1 servo to RCB-3J and connect the serial USB connector. Then turn on.

When you turn it on, the green LED would be light for about 2 seconds.

5

Start the software.

If you use it for the rst time, the specic messagewould be shown such as '19:31:35>COM8 set'

The rst numbers show time, which reects thetime of your personal computer.

This message means COM8 on serials port isready to be used now.

Select the number of using communication port.

For example, if you choose COM8, the message would indicate thecompletion of setup.

If you select the false communication port or the port which isreally used in other applications, please select the right one again.

When you couldn't know the port number, please read the manual of the serial USB

adopter and conrm it.

Connect the servo, move it, and decide the initial position (setup of the starting point)

Please put a check on synchronized switch (SYNC)on communication setting, because the operations,such as setting of servo position proceeded on thesoftware, would be effective directly.


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PRIMER

7

8

6 To move servo, put temporary positions onthe data sheet.

First, please select 'position' in parts menuand click on data sheet.

Then POS (position) would be made.

If you double-click the POS arranged, the POSwindow will open.

All port output of RCB-3J are 0V (L) on theinitial conditions.

To activate them, show the menu by right-click on the port panel connected to servo, andchange the output to SERVO.

When you set the output to 'SERVO' and move slide bar, the servo connected would be activated.

Be sure that the servo will move with the slide bar of the panel.

Lastly, put the part output axis to the initial place with slide bar and then take off the servo.

Now the move of the servo is conrmed.

You can specify the movement conrmation of all the servos and the position of the output shaft of theservo under the initial state by changing a servo and repeating it the process above.

Here, please use only one output, re-connect a servo, and do work here.

* Servo will be activating immediately when you change the output port to SERVO.Pay attention in case that you attach horn or other parts to servo output axis.

* If you click the false place on application whileusing POS window, the POS window closesautomatically.

When the POS window closes by mistake, pleasedouble-click POS and re-open the window, please.

What is mentioned here is explained as a method of initial setup point

by the assembling manual of KHR-2HV.

As for concrete contents of a setup, see an assembling manual in KHR-2HV.


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PRIMER

Making home position

1

In the preceding clause, all initial conditions are explained. The following section presumes that allservos are connected to the board.

Please change to SERVO the panel of channelconnected to the servo of the POS window,one by one.Pay attention to the servo which is attached tothe changed channel, as it began to move.

In the left figure, all the servos to use areestablished in 0.Please close this window when you finishsetup.

Before working

Change the output to SERVO

*the servo won't work if there is no check onthe synchronization switch "SYNC" of themain window. Check it again when it doesn'twork.

Home position means the basic posture for making motions.This would be erect posture for usual2-legs robot.In the case of putting parts to assemble body to servo's output axis, you need to x the place ofservo output axis as was mentioned before.

Its position depends on its body.By putting the output place 0, the place can be the center of motion angle of servo.Then you canx considering the total balance.


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PRIMER

3

Servo display number

Servo actual work number

Setting the home position

Registration of home position

Right-click on the mouse on POS window, opens amenu, and chooses "default position".Then the present position is registered in the defaultposition.The registered position can be used at once whenyou click the main window and default positionbutton of POS window.In addition, the position registered for the defaultposition becomes a standard for all the motions.

Click the trim modication button from the tool to open the window.

The home position ofthe robot is set up byadjusting the slide bar ofthe applicable servo in thiswindow.

The number would bedifferent depending onbodies.

There is a limit in the range that it can be set up in the setup window of the home position.And, even if it is within that numerical value, there may be a limitation of operating range to make anactual motion in the position window.


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PRIMER

Making start up motion

The startup motion is the setup that makes the body composed of RCB-3J to be in the home position whenthe power is turned on.Though RCB-3J does not send a signal at the start, automatic regeneration is possible to make an easymotion and set it up.This making process of startup motion premise the completion of making the default position explained the

former section.(Moreover, we presume that the servo of the specications of the RED version manufacturedby our company is being used.)

1 Dispose POS1Select POS on the main window and clock it on thedata sheet to arrange 'POS1'.

Edit POS1Double-click on arranged POS1, and a POS window isopened. Make POS All servos free in the window.

3 Setting up SpeedSet the speed 1 in the POS window.

Dispose SET1Choose SET1 in the main window, and clicks on thedata sheet to arrange SET1.

Setup window is closed automatically when youproceed to next operation.

*The choice of the tool is canceled when parts such as POS,SET and CMP are arranged.You must choose a tool every time to arrange more than onepart in succession.

This motion is contained in the attached CD as sample motion. Assembling manual alsoexplains by way of using sample motion.


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PRIMER

5 Edit SET1A setup window opens by double-clicking on arranged SET1.Select "The value measured in theinstruction is set on the parameter."of the setup window.

6 Dispose POS2

7 Edit POS2

Choose POS in the main window, and clicks on the datasheet to arrange POS2.

Double-click on arranged POS2 to edit it.Data to use would be the data on thedefault position set in advance.It can be set up with a default positionbutton of the setup window.Though the speed setting is optional, werecommend you to start with slowspeed (about 100), to avoid the danger.

8 Wiring

The 2 position arranged by this and 1 SET areconnected by using the wiring tool.A wiring tool will not be canceled until other toolsare chosen with choosing it once.Please click on the rst object of wiring rst.As a red line is indicated when a mouse is

moved, please click with the object which youwant to connect next.Repeat this, and connect these 3 objects.

Specify the start position

The motion need to be specied its start position.A start ag tool is used to specify a position of astart.A start ag tool isn't canceled until other tools arechosen when choosing it once, either.A start ag can be put by clicking on the object onthe data sheet.A start ag can be put only one in one motion.

9


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PRIMER

Save the data11

You can save the data as a le.

Name the data10If you double-click where there is nothing,the dialog designated to the right will open.

Here you can name the data.

Let's see how to name the data 'start upmotion'.

After naming the date, the name would bedisplayed on the tub over the data sheet.

The saving dialog will appearand you can save the data.

Certify the forwarding address1

Let's examine present data beforewriting the data.

First, select "the data table" from thedata table window of main window.

Click on the reading button when thedata table opens.

Present contents of data would beindicated.

Once a data display on the datatable is done, the name of data willbe displayed automatically future, inreading or writing the data.

* Data table could be displayed at the same

time with other windows.


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PRIMERForward the data13

Data indicated at present can be transferredto RCB-3J by clicking on the writing button.

When writing the data, the servo control ofRCB-3J will be the temporary 'sleep' state.

Register the motion as 'a start-up motion'1

Then, register the motion so that the transferred motioncan be executed automatically.

Open 'setup of an option' in the main window.

After opening the setup of an option, specify the startupmotion registering before in the A motion, scenario isplay backed at the time of the power supply injection".

Close an optional setup window when you nishspecifying it.

The contents set in RCB-3J will be written when anoptional setup window was closed.

Please turn off the power supply on the board,and then try to turn on the power again when thesetup is done.

If the RCB-3J works in the default position which

was set up automatically, then the registrationhas completed.

The startup motion established here is effective only to RED version servo of our company.hough it is an ideal to move each servo slowly on control board from the home position originallyestablished in starting, there is no standard position where it should move slowly when you start up it, asthe position of each servo isn't xed at the that time.

The startup motion established here is effective to RED version servo manufactured by our company.A control board doesn't have the standard position for moving slowly because the position of each servoisn't xed on starting point, though ideally it is better to move each servo slowly.

The start-up motion we make this time is the one as follows: given that the connected servo is the servoof red version, rstly it executes position capture, and then moves slowly from the standard position tothe home position.Moreover, if you carry out this process when you turn on the machine, you can change the positions tohome position easily.


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PRIMER

It is necessary to make data on the arranged position since the position arrangementis not enough to make itwork.

A position window opens

by double-clicking on thearranged position.

Then decide the position ofmovement of each servo inthe position window.

5The motion can be play backed by sending(writing) it to PCB-3.

Moreover, you can replace and use the motionbeyond the capacity of RCB-3J by saving amotion as a le.

Forward the data

Edit the motion

6 Play motionsClick the Play button to play the motion.

Specify the number of the motion to play.

You can stop by putting the stop button, if you want to.


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PRIMERCustomize the position window

The making process of the startup motion was explained in previous sections.

If you make start-up motion, then now you know the basic process to make a motion.

When you make motions, you need to use POS object and position window, which is opened by double-clickof POS object, to make each servo work.

You can make it more useable by changing the various settings on position window.

A POS window opens by double-clicking on arranged POS.

A menu like the left one will open if you click the right button on the emptypart of the POS window.

Operating the contents of the menu enables various customizations.

The ones with check mark in the indication menu are indicated.

You can eliminate the one you do not want to indicate, by removing thecheck.

If you remove the check to 'the xation of the panel' on the bottom ofthe menu, you can move a panel.

Please look below: this is one example in which only a necessary panelis indicated, and is moved to t the body.

In this example, we use the 21 servo and make it shown in according tothe servo position of arms and legs.


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PRIMERYou can choose the color from the menu, and put it as a background color.You can also indicate background image by putting a check on backgroundindication.

If you click the right button of a mouse, you can see the menu and youcan change the indications of the control panel of each servo.

Example of changing panel color

Window for name changing

Settings of the indication rate

Though each moving position in the panel is indicated by numerical values, thesenumbers are not the ones which directly show a movement angle. It is difcult to knowpresent position by this number since this numerical value just tell the inside settingpoint.To solve this problem, it is possible to change the settings of indication so that numericalvalue will indicate the approximate value of the actual moving position (angle).Ex) the servo of PWM 180 degrees movement, such as KRS-2350HV --- 0.346Ex) the servo of PWM 270 degrees movement, such as KRS-4014HV --- 0.52

Ex) the servo of PWM 260 degrees movement, such as KRS-4024HV --- 0.5


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PRIMER

Example of customizing the position window (1)

The example below specied the picture taken as a background of the positionwindow from the rear of KHR-2HV.

The panel of each servo is moved to the position where each channel shows.


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PRIMER

The basic operation was explained in the primer.Even with the functionsexplained above, you can move KHR-2HV with the sample motion.

Still it cannot be said that you make use of RCB-3J with these basicoperations.

Let's learn how to use the more advanced operations such as wirelesscontrol in the next intermediate section.


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INTERMEDIATESetting of wireless control

RCB-3J offers you 2 ways for wireless control.

One is using the KRC-1 wireless control set or conventional type of sender, which connects KRT-1,KRT-2 or personal computer to KRT-1 or KRT-3.

The other is expanding the command of conventional wireless control.

Here, the former way would be explained rst.

1

Data of receiver would be missed in the initial setting of RCB-3J, and you need to validate it, so let's setup for this.First of all, please open the option window on software.

After opening the option window, putchecks on 'Activate playing the motionscenario with the sender' 'Control throughKRC-1'.

Then close the window.

*Here KRC-1 is used as sender but the procedureis the same even in the case of using RCBCommander (software) or KRT-2.

12

3

Connect receiver to RCB-3J.

The gure below illustrates how to connect KRT-1 as an example.

Here KRC-1 is used as a sender.


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INTERMEDIATE

3Then let's decide which motion to play when you push the button of sender.

Open the data table from the menu.

You need to read the data table beforehand;otherwise, your data will not be showed.

Click the input button so that all the data will beput in.

When the list appears, please double-click themotion which you want to control with KRC-1.

Then the data dialog will appear.

While data dialog is indicated, turn on theKRC-1 to keep discharging the radio wave andgo on push the button to be allocated.

Under this state, click the 'receive' button of datadialog.If the number of control input changes,setting is completed.

Now you can release the button of sender.

Setting is written completely to RCB-3J whendata dialogue is closed.

While the data is read in on the data sheet, it is possible to open the data dialog by double-clicking theempty part of the data sheet.

Still please take note that the data on data sheet will not become validated unless you write into RCB-3Jafter editing.

You can do the same thing with RCB-1 and so forth, as is already explained in the previous sessions.

Still, with RCB-3J, you can go for further advanced-level of use.

For example, you can temporarilyinvalidate or validate the signal fromreceiver, with setting of SET object whichcan be arranged in each motion.

Moreover, you can not only play motionsusing command, but also control at themore advanced level, by using the multi-

bite analog control, which is another wayof wireless control.

Receiver setting on the data table directly affects the operations of the internal data of RCB-3J.On the other hand, the dialogue setting on the data sheet manipulates the data on PC.That is why; the value set on data table will be overwritten when the motion data is written in.In order not to take different data by mistake, it would be better to save the data on the le in thePC after reading the motion in the board, when you set it on the data table.


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INTERMEDIATEUse of gyro sensor

Gyro sensor is used to detect a change in posture of the body and to control the change.

In using gyro unit, the common way has been putting it between the servomotors, which requires gyroeffect, and control board, but in this way, the servo affects only on one servo, per one gyro or one systemof gyro.

On the other hand, this RCB-3J can use as many as 3 analog outputs, and you can put the gyro effect atany gain on any servo control channel.

Furthermore, you can change the setup with SET object of the motionduring the motion play.

Conrmation of Basic gyro motions

You can conrm the movement of gyro most easily byusing an analog window of the command menu.

If the preparation of the startup motion has beencompleted, the body with RCB-3J would move slowly to thehome position after putting power supply.

Click on the analog button, and open an analog windowunder this condition.

Then set the value of CH1 of Real time mixing to "x 5" onthe tab of the input 1 [AD1].

If you have completed the former process and connectionwithout any error, the servo connected to CH1 should beginto work.

Connection of KRG-3

Here we set up in CH1 as an example, and more than one servo can put to gyro.

Moreover, gain of the gyro can be changed by the set point, and if you set the minus numerical value,the gyro would move to reverse direction.

The contents set in this analog window will be saved in the memory of RCB-3J, and will be played whenthe power supply is injected.

If the servo position is different when you do not move gyro and under the condition that there is no gyro

effect, please do basic setup again on the upper part of the window.

Standard value is set up by clicking the buttonof "AUTO" under the condition that gyro is xed.Then the standard value of the gyro is overwrittenproperly.

When you connect gyro sensor KRG-3, be sure to connectit to analog input (AD1, 2, 3).

AD input 1

AD input 3AD input 2

KRG-3


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INTERMEDIATEMore practical gyro movement

As for the gyro movement explained in the former page, the effect of gyro is at the same level from themoment of turning on to turning off.It can't cope with the drift of gyro caused by the change of time andtemperature, neither.

Moreover, as the gyro effect is the same for all motions, there sometimes might be problems.

This is why RCB-3J has the option to use more dynamical way of manipulating gyro to the setup of

analog window.

Settings of gyro with an SET objectYou can do various setups by inserting the SET object used by thestartup motion of the primer while playing the motion.

First, make a new motion.

If there is any motion which has not be saved in the data sheet,please save or send them to RCB-3J.

Be sure to erase all the objects in screen when you make a newmotion.

First, click the right button on empty place of data sheet, and select'choose all' from menu.

After all objects are chosen, then select 'delete' after click the rightbutton or push DEL key on the key board, to complete the deletion.

When you delete all data, arrange the SETobjects and double-click to open the window.

If the window opens, select the mixing tab. not the tab of'others' which is used for start up motion.

The left side of each channel indicates kinds of the mixing,and the right side indicates gain.

Select the R of the AD channel connected to gyro in theleft.R stands for Real-time mixing.

The set of gain can use with both plus andminus.The direction of gyro mixing willchange according to the plus and the minus.

You can also put effects on severalchannels with different gains in setting of

gyro on SET object, just as analog window.Moreover, you can change the gain freelyduring the motion, by injecting SET objectto any place you want.

The way to use depends on the body andmotion to use.It would be better to decidethe way after trying several types.

In the case of using the gyro, please re-write thestandard values of analog input with different SETobject when the body posture is stable.

If standard value is not correct, the home position

deviates every time turning on.In addition, when you use it for a long time, itmight be a good way to make revised motion andexecute it if needed.


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INTERMEDIATEManaging the ICS setting

Though it was possible to change the setup of each servo(*) of RED Version by ICS, that setup has to bedone with another software and it has to be removed from control board.

Our new RCB-3J can control the setting of RED Version servo connected.

1 Open the option to specify the channelfor setup by ICS.

Put a check in the channel where setup by ICS is done.

Due to this process, there would cause no problem even if there issome models which is not for this type.

Open the ICS window to set it up.

Turn on RCB-3J again rst if the ICSwindow opens.

It starts in the ICS mode by turning onthe power again.Click the "reading" button to read data.

A setup can be changed here as a setupwindow opens by clicking each channel.

When you close ICS window, the power supply of RCB-3J should be putin again.

The ICS mode will change to usual servo control mode by the re-injection

of the power supply.

*KRS-4014 HV and 4013HV work with an ICS2.0 standard.Reading is impossible with this window.


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INTERMEDIATEWriting scenarioYou can play motions continuously by making a scenario and to carry it out.

Demonstration can be done in given time autonomously.

Clear the data sheet1

Click the right button on the data sheet to openmenu, and you can select all of what is on thedata sheet.

During the all selecting, Choose the deletion by the right-buttonclick on object or by pushing the DEL key on key boards.

When you make the scenario, you will arrange the motions on the data sheet.

This work can't be done to the condition (A motion is being made.) that a position and so on isarranged onto the data sheet though a motion is arranged to the data sheet when a scenario is made.

So please erase the data sheet once.

Open the data table

When you click on the data table icon,a data table window like the right gure

opens.

When data aren't indicated, click the readingbutton of the upper left, and data will come tothe computer.


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INTERMEDIATE

Add start ag on the data sheet.

Put the ags on the objects which youwant to play rst from the tools.

Compose the motion3

An arranged motion can change indication with properties button.

Choose wiring tool.Unless you select other tools, a wiring tool selectionisn't canceled.After click the rst motion, pleaseclicks the tool for next motion.

* Wiring is canceled by the clicking right-button when the wiring

has already started (the condition that red line is indicated).

* Until you choose other tools, a start ag toolisn't canceled, either.

A data sheet could recognize it as a scenario when a motion was arranged to the data seat.

There are only a wiring tool and a start ag except for the motion that you can use for the scenario.

POS and SET and CMP can't be arranged.

Drag and drop the motion from the data table opened, andarrange them onto the data sheet.


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INTERMEDIATE

Writing the scenario

Double-clicks on the white part of the data sheet to

open data dialog, and input a data name in beforewriting the scenario.

It is possible to input the control if you use a wirelesscontrol unit.

You can write into the board by choosinga writing tool.

The written scenario can be also played,like the motions.

The contents and caution of scenario

The motions are for move the robot connected to RCB-3J, and the scenario hasno information for actual movement, such as the position of the servo.

Scenario just contains the information of the order to play motions.

In other words, the movement should be changed when the contents of themotion specied by the scenario are changed.

So, you need to make sure that the motion and the content of it is correct, whenyou make scenario.

There might be some problem about the movement if there is a mistake in themotion.

And, when you made a mistake in repetition management (loop), which would be

mentioned in the advanced edition, there is a case which the motion won't

nish.Conrm the movement of each motion when you use the scenario.


38/4038

INTERMEDIATEUsing instruction function

Usually when you make the motions of robot, you specify the moving place if each servo withnumbers or with slide bars, and connect them to make one motion.

On the other hand, if you use the instruction function, you let the servos of the robot free andtake in the posture of the robot into the servo.

Using a Red Version servo of our company is required to use this function.

(This cannot be used if your servo does not have instruction function)

1

Arrange one position on the data sheet.

Double-click on the arranged position to open theposition window.

3

Select "The setup of the combination" from the LINKsetup.

At the same time of the selection, "the setup of thedesignated movement" window opens.

Set 'TCH' on the channel to use instructionfunction, in the "the setup of the designatedmovement" window.

This TCH stands for teaching.


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INTERMEDIATE

5Change all the channels which you want to use the function to'TCH'.

If the combination of the channel for specifying the instruction iscompleted, put the name of the combination in the column forthe name.

(Here we use a name of 'instruction' as an example.)

Then push OK, and close a window.

6If you return to the position window, please select the nameyou specied ('instruction' in this example) in the LINKsetting.

7 When instruction is chosen with LINK, instruction can bedone with the following process.

Once you click the shitter button, the servospecifying TCH on LINK window become free, andyou can x the posture.

When you click on the shutter button again, a

present position is taken in, and the channel of'TCH' changes from FREE to SERVO.

As even the newly opened position can be chosen if you tried the LINK

selection once, the position using instruction function can be made quickly.

If you make motions using instruction, you cannot teach more than the

movable limitation of the servo.


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RCB-3J

Documents

RCB-3J Manual ForENG